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Hi,
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I've added a package to rock, which can be used with the new JointsTrajectory type, and the JointsLimits type, to control a multiple joints, using the reflexxes library.
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The package is called control/orogen/trajectory_generation (come to think of it, trajectory_controller might have been a better name... oh, well). Its based on the MLSPosition example from the reflexxes library. Currently the component compiles, but is untested.
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cheers,
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Jakob
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